The Experts below are selected from a list of 164793 Experts worldwide ranked by ideXlab platform
Sarthak Misra - One of the best experts on this subject based on the ideXlab platform.
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Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Claudio Pacchierotti, Chang Kyu Yoon, Frank Van Den Brink, Federico Ongaro, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enables humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative microteleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic Grippers in 2-D space. The soft Grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks.Note to Practitioners—The ability to accurately and intuitively control the motion of miniaturized Grippers in remote environments can open new exciting possibilities in the fields of minimally invasive surgery, micromanipulation, biopsy, and drug delivery. This paper presents a microteleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft Grippers. It intr- duces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world scenarios: 1) following of a predetermined trajectory and 2) pick-and-place task of a microscopic object.
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Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Claudio Pacchierotti, Chang Kyu Yoon, Frank Van Den Brink, Federico Ongaro, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enable humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative micro teleop-eration system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic Grippers in 2-dimensional space. The soft Grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment, as well as enabling the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving twenty-six human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks. Note to Practitioners—The ability to accurately and intuitively control the motion of miniaturized Grippers in remote environments can open new exciting possibilities in the fields of minimally-invasive surgery, micromanipulation, biopsy, and drug delivery. This article presents a micro teleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft Grippers. It introduces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world C. Pacchierotti is affiliated with CNRS at Irisa and Inria Rennes, France. F. Ongaro, F. van den Brink, and S. Misra are affiliated with the Surgical The authors also thank Dr. Stefano Scheggi for his help in setting up the tracking system. scenarios: following of a predetermined trajectory, and pick-and-place of a microscopic object.
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model based tracking of miniaturized Grippers using particle swarm optimization
Intelligent Robots and Systems, 2016Co-Authors: Stefano Scheggi, Chang Kyu Yoon, David H Gracias, Sarthak MisraAbstract:Micro-sized agents can benefit robotic minimally invasive surgery since they can be inserted into the human body and use natural pathways such as arteries and veins or the gastrointestinal tract, to reach their target for drug delivery or diagnosis. Recently, miniaturized agents with shape-changing and gripping capabilities have provided significant advantages in performing grasping, transportation, and manipulation tasks. In order to robustly perform such tasks, it is of utmost importance to properly estimate their overall configuration. This paper presents a novel solution to the problem of estimating and tracking the 3D position, orientation and configuration of the tips of miniaturized Grippers from RGB marker-less visual observations obtained by a microscope. We consider this as an optimization problem, seeking for the gripper model parameters that minimize the discrepancy between hypothesized instances of the gripper model and actual observations of the miniaturized gripper. This optimization problem is solved using a variant of the Particle Swarm Optimization algorithm. The proposed approach has been evaluated on several image sequences showing the Grippers moving, rotating, opening/closing and grasping biological material.
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Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft Grippers affected by disturbances
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016Co-Authors: Federico Ongaro, Chang Kyu Yoon, Claudio Pacchierotti, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Current wireless, small-scale robots have restricted manipulation capabilities, and limited intuitive tools to control their motion. This paper presents a novel teleoperation system with haptic feedback for the control of untethered soft Grippers. The system is able to move and open/close the Grippers by regulating the magnetic field and temperature in the workspace. Users can intuitively control the Grippers using a grounded haptic interface, that is also capable of providing compelling force feedback information as the gripper interacts with the environment. The magnetic closed-loop control algorithm is designed starting from a Finite Element Model analysis. The electromagnetic model used is validated by a measurement of the magnetic field with a resolution of 0.1 mT and sampling rate of 6.8×106 samples/m2. The system shows an accuracy in positioning the gripper of 0.08 mm at a velocity of 0.81 mm/s. The robustness of the control and tracking algorithms are tested by spraying the workspace with water drops that cause glares and related disturbances of up to 0.41 mm.
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Control of untethered soft Grippers for pick-And-place tasks
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016Co-Authors: Federico Ongaro, Chang Kyu Yoon, Frank Van Den Brink, Momen Abayazid, Seung Hyun Oh, David H Gracias, Sarthak MisraAbstract:In order to handle complex tasks in hard-to-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale Grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale Grippers to demonstrate pick-and-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic Grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12+-0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57+-0.33 mm. The soft Grippers move with an average velocity of 0.72+-0.13 mm/s without a micro-sized payload, and at 1.09+-0.07 mm/s with a micro-sized payload.
Mark R Cutkosky - One of the best experts on this subject based on the ideXlab platform.
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A Soft Robotic Gripper With Gecko-Inspired Adhesive
IEEE Robotics and Automation Letters, 2018Co-Authors: Paul Glick, Donald Ruffatto, Srinivasan A. Suresh, Mark R Cutkosky, Michael T Tolley, Aaron ParnessAbstract:Previous work has demonstrated the versatility of soft robotic Grippers using simple control inputs. However, these Grippers still face challenges in grasping large objects and in achieving high-strength grasps. This work investigates the combination of fluidic elastomer actuators and gecko-inspired adhesives to both enhance existing soft gripper properties and generate new capabilities. On rocky or dirty surfaces where adhesion is limited, the gripper retains the functionality of a pneumatically actuated elastomer gripper with no measured loss in performance. Design strategies for using the unique properties of the gecko-inspired adhesives are presented. By modeling fluidic elastomer actuators as a series of joints with associated joint torques, we designed an actuator that takes advantage of the unique properties of the gecko-inspired adhesive. Experiments showed higher strength grasps at lower pressures compared to nongecko actuators, in many cases enabling the gripper to actuate more quickly and use less energy. The gripper weighs 48.7 g, uses $7.25 of raw materials, and can support loads of over 50 N. A second gripper, using three fingers for a larger adhesive surface, demonstrated a grasping force of 111 N (25 lbf) when actuated at an internal pressure of 40 kPa.
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Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers
IEEE Transactions on Robotics, 2018Co-Authors: Elliot Wrigh Hawkes, David L Christense, Hao Jiang, Mark R CutkoskyAbstract:Grasping objects that are too large to envelop is traditionally achieved using friction that is activated by squeezing. We present a family of shear-activated Grippers that can grasp such objects without the need to squeeze. When a shear force is applied to the gecko-inspired material in our Grippers, adhesion is turned on; this adhesion in turn results in adhesion-controlled friction, a friction force that depends on adhesion rather than a squeezing normal force. Removal of the shear force eliminates adhesion, allowing easy release of an object. A compliant shear-activated gripper without active sensing and control can use the same light touch to lift objects that are soft, brittle, fragile, light, or very heavy. We present three Grippers, the first two designed for curved objects, and the third for nearly any shape. Simple models describe the grasping process, and empirical results verify the models. The Grippers are demonstrated on objects with a variety of shapes, materials, sizes, and weights.
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a robotic device using gecko inspired adhesives can grasp and manipulate large objects in microgravity
Science Robotics, 2017Co-Authors: Hao Jiang, Aaron Parness, Elliot W. Hawkes, Christophe J Ploch, Srinivasa A Suresh, Matthew A. Estrada, Christine Fulle, Neil Abcouwe, Shiqua Wang, Mark R CutkoskyAbstract:Grasping and manipulating uncooperative objects in space is an emerging challenge for robotic systems. Many traditional robotic grasping techniques used on Earth are infeasible in space. Vacuum Grippers require an atmosphere, sticky attachments fail in the harsh environment of space, and handlike opposed Grippers are not suited for large, smooth space debris. We present a robotic gripper that can gently grasp, manipulate, and release both flat and curved uncooperative objects as large as a meter in diameter while in microgravity. This is enabled by (i) space-qualified gecko-inspired dry adhesives that are selectively turned on and off by the application of shear forces, (ii) a load-sharing system that scales small patches of these adhesives to large areas, and (iii) a nonlinear passive wrist that is stiff during manipulation yet compliant when overloaded. We also introduce and experimentally verify a model for determining the force and moment limits of such an adhesive system. Tests in microgravity show that robotic Grippers based on dry adhesion are a viable option for eliminating space debris in low Earth orbit and for enhancing missions in space.
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Free-flyer acquisition of spinning objects with gecko-inspired adhesives
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016Co-Authors: Matthew A. Estrada, Elliot W. Hawkes, Andrew Ylard, Enjami Hockma, Mark R Cutkosky, Marco PavoneAbstract:We explore the use of Grippers with gecko-inspired adhesives for spacecraft docking and acquisition of tumbling objects in microgravity. Towards the goal of autonomous object manipulation in space, adhesive Grippers mounted on planar free-floating platforms are shown to be tolerant of a broad range of incoming linear and angular velocities. Through modeling, simulations, and experiments, we characterize the dynamic “grasping envelope” for successful acquisition and derive insights to inform future gripper designs and grasping strategies for motion planning.
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ICRA - Free-flyer acquisition of spinning objects with gecko-inspired adhesives
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016Co-Authors: Matthew A. Estrada, Elliot W. Hawkes, Mark R Cutkosky, Benjamin J. Hockman, Andrew Bylard, Marco PavoneAbstract:We explore the use of Grippers with gecko-inspired adhesives for spacecraft docking and acquisition of tumbling objects in microgravity. Towards the goal of autonomous object manipulation in space, adhesive Grippers mounted on planar free-floating platforms are shown to be tolerant of a broad range of incoming linear and angular velocities. Through modeling, simulations, and experiments, we characterize the dynamic “grasping envelope” for successful acquisition and derive insights to inform future gripper designs and grasping strategies for motion planning.
David H Gracias - One of the best experts on this subject based on the ideXlab platform.
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Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Claudio Pacchierotti, Chang Kyu Yoon, Frank Van Den Brink, Federico Ongaro, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enables humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative microteleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic Grippers in 2-D space. The soft Grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks.Note to Practitioners—The ability to accurately and intuitively control the motion of miniaturized Grippers in remote environments can open new exciting possibilities in the fields of minimally invasive surgery, micromanipulation, biopsy, and drug delivery. This paper presents a microteleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft Grippers. It intr- duces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world scenarios: 1) following of a predetermined trajectory and 2) pick-and-place task of a microscopic object.
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Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Claudio Pacchierotti, Chang Kyu Yoon, Frank Van Den Brink, Federico Ongaro, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enable humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative micro teleop-eration system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic Grippers in 2-dimensional space. The soft Grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment, as well as enabling the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving twenty-six human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks. Note to Practitioners—The ability to accurately and intuitively control the motion of miniaturized Grippers in remote environments can open new exciting possibilities in the fields of minimally-invasive surgery, micromanipulation, biopsy, and drug delivery. This article presents a micro teleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft Grippers. It introduces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world C. Pacchierotti is affiliated with CNRS at Irisa and Inria Rennes, France. F. Ongaro, F. van den Brink, and S. Misra are affiliated with the Surgical The authors also thank Dr. Stefano Scheggi for his help in setting up the tracking system. scenarios: following of a predetermined trajectory, and pick-and-place of a microscopic object.
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model based tracking of miniaturized Grippers using particle swarm optimization
Intelligent Robots and Systems, 2016Co-Authors: Stefano Scheggi, Chang Kyu Yoon, David H Gracias, Sarthak MisraAbstract:Micro-sized agents can benefit robotic minimally invasive surgery since they can be inserted into the human body and use natural pathways such as arteries and veins or the gastrointestinal tract, to reach their target for drug delivery or diagnosis. Recently, miniaturized agents with shape-changing and gripping capabilities have provided significant advantages in performing grasping, transportation, and manipulation tasks. In order to robustly perform such tasks, it is of utmost importance to properly estimate their overall configuration. This paper presents a novel solution to the problem of estimating and tracking the 3D position, orientation and configuration of the tips of miniaturized Grippers from RGB marker-less visual observations obtained by a microscope. We consider this as an optimization problem, seeking for the gripper model parameters that minimize the discrepancy between hypothesized instances of the gripper model and actual observations of the miniaturized gripper. This optimization problem is solved using a variant of the Particle Swarm Optimization algorithm. The proposed approach has been evaluated on several image sequences showing the Grippers moving, rotating, opening/closing and grasping biological material.
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Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft Grippers affected by disturbances
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016Co-Authors: Federico Ongaro, Chang Kyu Yoon, Claudio Pacchierotti, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Current wireless, small-scale robots have restricted manipulation capabilities, and limited intuitive tools to control their motion. This paper presents a novel teleoperation system with haptic feedback for the control of untethered soft Grippers. The system is able to move and open/close the Grippers by regulating the magnetic field and temperature in the workspace. Users can intuitively control the Grippers using a grounded haptic interface, that is also capable of providing compelling force feedback information as the gripper interacts with the environment. The magnetic closed-loop control algorithm is designed starting from a Finite Element Model analysis. The electromagnetic model used is validated by a measurement of the magnetic field with a resolution of 0.1 mT and sampling rate of 6.8×106 samples/m2. The system shows an accuracy in positioning the gripper of 0.08 mm at a velocity of 0.81 mm/s. The robustness of the control and tracking algorithms are tested by spraying the workspace with water drops that cause glares and related disturbances of up to 0.41 mm.
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Control of untethered soft Grippers for pick-And-place tasks
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016Co-Authors: Federico Ongaro, Chang Kyu Yoon, Frank Van Den Brink, Momen Abayazid, Seung Hyun Oh, David H Gracias, Sarthak MisraAbstract:In order to handle complex tasks in hard-to-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale Grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale Grippers to demonstrate pick-and-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic Grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12+-0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57+-0.33 mm. The soft Grippers move with an average velocity of 0.72+-0.13 mm/s without a micro-sized payload, and at 1.09+-0.07 mm/s with a micro-sized payload.
Claudio Pacchierotti - One of the best experts on this subject based on the ideXlab platform.
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Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Claudio Pacchierotti, Chang Kyu Yoon, Frank Van Den Brink, Federico Ongaro, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enables humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative microteleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic Grippers in 2-D space. The soft Grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks.Note to Practitioners—The ability to accurately and intuitively control the motion of miniaturized Grippers in remote environments can open new exciting possibilities in the fields of minimally invasive surgery, micromanipulation, biopsy, and drug delivery. This paper presents a microteleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft Grippers. It intr- duces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world scenarios: 1) following of a predetermined trajectory and 2) pick-and-place task of a microscopic object.
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Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Claudio Pacchierotti, Chang Kyu Yoon, Frank Van Den Brink, Federico Ongaro, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enable humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative micro teleop-eration system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic Grippers in 2-dimensional space. The soft Grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment, as well as enabling the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving twenty-six human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks. Note to Practitioners—The ability to accurately and intuitively control the motion of miniaturized Grippers in remote environments can open new exciting possibilities in the fields of minimally-invasive surgery, micromanipulation, biopsy, and drug delivery. This article presents a micro teleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft Grippers. It introduces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world C. Pacchierotti is affiliated with CNRS at Irisa and Inria Rennes, France. F. Ongaro, F. van den Brink, and S. Misra are affiliated with the Surgical The authors also thank Dr. Stefano Scheggi for his help in setting up the tracking system. scenarios: following of a predetermined trajectory, and pick-and-place of a microscopic object.
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Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft Grippers affected by disturbances
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016Co-Authors: Federico Ongaro, Chang Kyu Yoon, Claudio Pacchierotti, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Current wireless, small-scale robots have restricted manipulation capabilities, and limited intuitive tools to control their motion. This paper presents a novel teleoperation system with haptic feedback for the control of untethered soft Grippers. The system is able to move and open/close the Grippers by regulating the magnetic field and temperature in the workspace. Users can intuitively control the Grippers using a grounded haptic interface, that is also capable of providing compelling force feedback information as the gripper interacts with the environment. The magnetic closed-loop control algorithm is designed starting from a Finite Element Model analysis. The electromagnetic model used is validated by a measurement of the magnetic field with a resolution of 0.1 mT and sampling rate of 6.8×106 samples/m2. The system shows an accuracy in positioning the gripper of 0.08 mm at a velocity of 0.81 mm/s. The robustness of the control and tracking algorithms are tested by spraying the workspace with water drops that cause glares and related disturbances of up to 0.41 mm.
Federico Ongaro - One of the best experts on this subject based on the ideXlab platform.
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Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Claudio Pacchierotti, Chang Kyu Yoon, Frank Van Den Brink, Federico Ongaro, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enables humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative microteleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic Grippers in 2-D space. The soft Grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks.Note to Practitioners—The ability to accurately and intuitively control the motion of miniaturized Grippers in remote environments can open new exciting possibilities in the fields of minimally invasive surgery, micromanipulation, biopsy, and drug delivery. This paper presents a microteleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft Grippers. It intr- duces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world scenarios: 1) following of a predetermined trajectory and 2) pick-and-place task of a microscopic object.
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Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Claudio Pacchierotti, Chang Kyu Yoon, Frank Van Den Brink, Federico Ongaro, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enable humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative micro teleop-eration system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic Grippers in 2-dimensional space. The soft Grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment, as well as enabling the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving twenty-six human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks. Note to Practitioners—The ability to accurately and intuitively control the motion of miniaturized Grippers in remote environments can open new exciting possibilities in the fields of minimally-invasive surgery, micromanipulation, biopsy, and drug delivery. This article presents a micro teleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft Grippers. It introduces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world C. Pacchierotti is affiliated with CNRS at Irisa and Inria Rennes, France. F. Ongaro, F. van den Brink, and S. Misra are affiliated with the Surgical The authors also thank Dr. Stefano Scheggi for his help in setting up the tracking system. scenarios: following of a predetermined trajectory, and pick-and-place of a microscopic object.
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Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft Grippers affected by disturbances
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016Co-Authors: Federico Ongaro, Chang Kyu Yoon, Claudio Pacchierotti, Domenico Prattichizzo, David H Gracias, Sarthak MisraAbstract:Current wireless, small-scale robots have restricted manipulation capabilities, and limited intuitive tools to control their motion. This paper presents a novel teleoperation system with haptic feedback for the control of untethered soft Grippers. The system is able to move and open/close the Grippers by regulating the magnetic field and temperature in the workspace. Users can intuitively control the Grippers using a grounded haptic interface, that is also capable of providing compelling force feedback information as the gripper interacts with the environment. The magnetic closed-loop control algorithm is designed starting from a Finite Element Model analysis. The electromagnetic model used is validated by a measurement of the magnetic field with a resolution of 0.1 mT and sampling rate of 6.8×106 samples/m2. The system shows an accuracy in positioning the gripper of 0.08 mm at a velocity of 0.81 mm/s. The robustness of the control and tracking algorithms are tested by spraying the workspace with water drops that cause glares and related disturbances of up to 0.41 mm.
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Control of untethered soft Grippers for pick-And-place tasks
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016Co-Authors: Federico Ongaro, Chang Kyu Yoon, Frank Van Den Brink, Momen Abayazid, Seung Hyun Oh, David H Gracias, Sarthak MisraAbstract:In order to handle complex tasks in hard-to-reach environments, small-scale robots have to possess suitable dexterous and untethered control capabilities. The fabrication and manipulation of soft, small-scale Grippers complying to these requirements is now made possible by advances in material science and robotics. In this paper, we use soft, small-scale Grippers to demonstrate pick-and-place tasks. The precise remote control is obtained by altering both the magnetic field gradient and the temperature in the workspace. This allows us to regulate the position and grasping configuration of the soft thermally-responsive hydrogel-nanoparticle composite magnetic Grippers. The magnetic closed-loop control achieves precise localization with an average region-of-convergence of the gripper of 0.12+-0.05 mm. The micro-sized payload can be placed with a positioning error of 0.57+-0.33 mm. The soft Grippers move with an average velocity of 0.72+-0.13 mm/s without a micro-sized payload, and at 1.09+-0.07 mm/s with a micro-sized payload.
